FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail to transfer the same function to novel ones -- a gap we formalize as functional generalization. Functionally equivalent tools share visually recognizable functional intent, such as where contact can occur and how a contact region should move to the target. However, this perceptual similarity does not directly carry over to action space, where each tool demands a different motor pattern to realize the function. To bridge this gap, we explore intermediate representations including affordance images, human video prompts, functional videos and object masks, and 2D keypoint trajecto...
| Authors | Chuhao Zhou, Liquan Wang, Shuxin Cao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 July 2026 |
| Last updated at source | 1 October 2026 |
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